JPS6023056B2 - Fixed position stop control device for tail end of material to be wound - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for winding a strip-shaped material to be wound into a coil, which is often seen in the steel industry, paper industry, and the like.

In this type of equipment, in order to facilitate the manipulation (coil handling) of the material wound into a coil in the subsequent process, there is a need to stop the tail end of the material in a fixed position, and various control devices are required. It has been realized.

FIG. 1 shows an example of the control device, in which 1 is the material to be wound during winding, 2 is the tail end detector of the material 1, 3 is the pulse generator that detects the rotation angle of the winding machine, and 4 is the tail end detector of the material 1. numeral 5 is an input gate of the counter 4; numeral 7 is a comparator that compares the output of the counter 4 with the output of the setting device 6 and issues a stop command 8;

Note that the contents of the setting device 6 are determined by the addition/decrease rate determined by the capacity of the drive motor M of the winding machine and the amount of rotation from when a stop command is given to the winding machine until it actually stops, which is determined by a slight loss. be done. Next, the operation will be explained.

Tail end la of the material to be wound 1 being wound up by the winding machine
passes through the tail end detector 2, the coil diameter at that time (
Distance L that the tail end la travels from point A to point B and reaches point C, which is the stopping target, by d; A
B + BC = L + L2 is determined, and the rotation angle of the winding machine corresponding to the travel distance L thus determined is preset in the counter 4. At the same time, the output gate 5 of the tail end detector 2 is opened and the tail end positioning calendar stop control device Start. The contents of the counter 4 are subtracted by the pulses of the pulse generator 3 that are input as the winding machine rotates, and when the contents become equal to the set value of the setting device 6, a stop command 8 is output from the comparator 7. This will stop the winder. However, in the above-mentioned control device, even if the load on the winding machine drive motor M changes due to a change in the coil length and coil width of the material to be wound 1, it is not possible to compensate for the flow amount after outputting the stop command corresponding to the change. I can't do it,
It was difficult to control the termination of the tail end localization layer accurately without errors.

In order to deal with this, the following attempts have been made by the industry.

1. As shown in FIG. 2-a, the deceleration speed of the winder is set in multiple stages and the final speed Vo is kept low to reduce the variation in the stop position due to inertia.

2. Add a correction term due to the coil seat to the preset value to the counter 4.

That is, LI=L+L21(d). In this way, as shown in FIG. 2-b, the stop start position changes according to the size of the coil diameter, such as t2 and t3, and it is possible to reduce the stop error. In addition, in Fig. 2-a and b, 11 is the standard speed curve, 12 is the actual speed curve, and 13 is the actual speed curve.
14 is a velocity curve when inertia is large, 14 is a velocity curve when inertia is small, and 15 is a stopping error.

However, in the case of 1, by lowering the final velocity Vo,
The time required for stopping is extended and the time for coil handling is shortened.

In case 2, there was a drawback that it could not deal with changes in the amount of inertia due to the coil width.

In general, when an object with a certain amount of inertia GM is decelerated to a stop from a speed V with a rated torque T, the traveling distance S is "S: Gei x VXt = Ura , t is deceleration time, D is coil diameter, N is coil length D,
The number of rotations when the speed is V is shown.

On the other hand, if the deceleration torque is T^, then T^ = W in the formula of Tsubasogo State ■ is the deceleration time agreed upon for operation (note, the subscript 0 indicates the value at the maximum speed)'1}, ■ From the formula, V2 S = 750 x light x DX main x 375Xt.

XT^N. 2x Poison Yoshimugi N.

X-tei ‐‐‐'3} V again. = m x D x No, so S; reasonable name

This amount of inertia compensation is usually expressed as a percentage of the torque (or force) required to move the object further or further away by the rated driving torque (or force). Described by the formula: N, c (%): Fumoto Sakuraku side = (9 machine theory inside.・
・．． ...(However, KW: motor power, and the relationship between the above inertia compensation amount, coil diameter, and coil width is shown in (4-1) above.
In the G pi in the formula, G pi = 2 old days (D4-D unit) x 1 pi [k9-〆].・・・． ...It is expressed as (4-2).

However, 6: Specific gravity, W: Coil width, D: Coil outer diameter, Do
: Inside the coil So, set the above inertia compensation amount IC as ,C=Tei'za, S=Takashi×KushiXIC ---■ is obtained, and V=No2XSXKoXvoice ---'61 .

This formula [6} shows that when the distance to the target stop position is S, if z2XSXxXpoison is given as the reference speed value, the vehicle can be stopped in the shortest possible time.

In other words, S′ = Old XS - State Then, v = Zo2XsX No.X1 = Zotori No.

Therefore, the deceleration pattern when the inertia compensation amount is 1oo% (
V = No. 2 This inertia compensation amount IC is generally included in the control device of the winding machine in many cases. Therefore, the present invention eliminates the drawbacks of the conventional device by automatically changing the timing of issuing a stop command, that is, the deceleration speed command with respect to the target stopping distance of the tail end, according to the inertia of the winder. It is an object of the present invention to provide a tail end localization layer stop control device that can stop the tail end of a material to be wound in the local position with high precision and in the shortest possible time by setting a deceleration pattern.

FIG. 3 is a block diagram of an electric circuit showing one embodiment of the present invention.

1 to 5 are the same as the same symbols in FIG.

6a, 6b... are setting devices for setting the rotational speed standard of the winding machine at each distance to the target stop position of the tail end la, and 20 is an inertia compensation amount IC required when performing constant tension control of the winding machine. A setting device 21 is a multiplier for setting (generally calculated from the coil diameter, coil width, and other factors, as is clear from equations (4-1) and (4-2) above), and 21 is a multiplier, From the output S of the counter 4 and the output IC of the setting device 20, S'=
Calculate S/IC.

7a, 7b... are the output S' of the multiplier 21 and the setters 6a, 6.
Comparators 8a, 8b... for comparing with the set value of b...
- This is a deceleration speed command sequentially output from the comparators 7a, 7b, . . .

Note that the constant tension control mentioned above refers to control in which a constant tension is applied to the material 1 to be wound. However, the acceleration/deceleration of the winder causes a delay in the tension control of the winder due to the inertia of the material 1 to be wound, and the constant tension control is disturbed. Therefore, in order to prevent this development and realize constant tension control, inertia compensation is set in the setting device 20 as described above. The deceleration pattern due to inertia (indicating the relationship between the distance to the target stopping position of the tail end and the speed) is determined by the output S'=S/IC of the multiplier 21 and the setting device 6a.
, 6b, . . . are compared by comparators 7a, 7b, .

This will be explained with reference to FIG. Now the inertia compensation amount is 100
%, the deceleration pattern obtained from the side equation is as shown by curve 33.

At this time, the output S' of the multiplier 21 becomes S'=S, so
From the comparators 7a, 7b, . . . , step-like deceleration speed commands 31 such as Vo at V2, Sa2, V, Sal, and Vo at distance 6a3 are obtained. On the other hand, when the inertia compensation amount IC is set to 50%, a deceleration pattern shown by curve 32 is obtained based on the equation (2) above. In this case, the output S' of the multiplier 21 becomes S' = illusion, so the deceleration speed V at the distance Sa3 when the inertia compensation amount is 100%
2 is output from the comparators 7a, 7b, . A deceleration speed command 30 is obtained. Therefore, by preparing a deceleration pattern when the inertia compensation amount IC is 100%, and when the inertia changes, read the distance axis of the deceleration pattern as S = × S to obtain the speed reference output, so that the optimum It is possible to obtain a deceleration pattern.

As described above, the present invention uses the inertia compensation amount that the control device of the winding machine generally has, so that the tail end of the material to be wound can be stopped in the correct position with high precision and in the shortest possible time. This has the effect of realizing a tail end localization layer stop control device with a simple configuration and at low cost.

In the above explanation, it is assumed that the amount of inertia compensation already exists, but in a device that does not have an inertia compensation function, it is necessary to calculate IC; TA/T by performing the same calculation as the inertia compensation from the coil etc. at that time. There is.

The calculation in this case includes both the setting of the inertia compensation amount (code 20 in Figure 3) and the multiplication of that inertia compensation amount by the remaining rotation angle of the tail end (code 21 in Figure 3). Become.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the electric circuit of a conventional tail end localization layer stop control device, Fig. 2 a and b are deceleration pattern diagrams of the follower device,
FIG. 3 is a block diagram of an electric circuit showing one embodiment of the tail end localization layer stop control device of the present invention, and FIG. 4 is a deceleration pattern diagram of the device. 1... Material to be wound, 2... Tail end detector, 3... Pulse generator, 4... Force counter, 6a, 6b...・Speed standard setter, 7a, 7b
... Comparator, 20 ... Inertia compensation amount setter, 21 ... Multiplier. Note that the same reference numerals in the figures indicate the same parts. Figure 2-a Figure 2-b Figure 4 Figure 1 Figure 3

Claims (1)

[Claims] 1. A distance calculation means for calculating the distance from the coil diameter to the stop target position of the tail end when the tail end passes the tail end detection position, and a rotation angle of the winding machine corresponding to the distance calculated by this distance calculation means. a rotation angle setting means for setting the rotation angle, a multiplication means for correcting an error in the stop position due to inertia by multiplying the remaining rotation angle of the tail end by an inertia compensation amount corresponding to the coil diameter at that time; A number of speed setting means for setting speeds at various distances based on a deceleration pattern showing the relationship between the distance to the target position and the speed, and a number of speed setting means provided corresponding to each of the speed setting means, A tail end fixed position stop control device for a material to be wound, comprising a number of comparators that compare the output of the multiplication means with the output of the speed setting means and issue a deceleration speed command.